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Title: Design, Modeling, and Control of a Hardware-in-the-Loop Testbed for Off-Road Vehicles

Journal Article · · ASME Letters in Dynamic Systems and Control
DOI: https://doi.org/10.1115/1.4066465 · OSTI ID:2462711
 [1];  [2];  [2];  [2]
  1. University of Minnesota at Twin Cities, Minneapolis, MN (United States); University of Minnesota
  2. University of Minnesota at Twin Cities, Minneapolis, MN (United States)
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This paper presents the design, modeling, and control of a hardware-in-the-loop (HIL) testbed for off-road vehicles. The proposed HIL testbed employs a transient hydrostatic dynamometer to load a diesel engine to emulate any loading cycles of a wheel loader, which is a representative off-road vehicle. A fully validated wheel loader model is used to calculate the engine load, including both the drive and work functions. Besides, iterative learning control (ILC) has been designed for the loading torque tracking of the hydrostatic dynamometer to ensure accurate emulation of real-world operation scenarios. The developed HIL testbed is used to demonstrate more than 26% energy benefits of automated wheel loaders through systematic optimization compared with human-operated wheel loaders. As a result, this HIL testbed serves as a robust platform for advancing research and development across various off-road vehicles, including excavators, tractors, and harvesters.

Research Organization:
University of Minnesota, Minneapolis, MN (United States)
Sponsoring Organization:
USDOE Office of Energy Efficiency and Renewable Energy (EERE), Office of Sustainable Transportation. Vehicle Technologies Office (VTO)
Grant/Contract Number:
EE0009200
OSTI ID:
2462711
Journal Information:
ASME Letters in Dynamic Systems and Control, Journal Name: ASME Letters in Dynamic Systems and Control Journal Issue: 4 Vol. 4; ISSN 2689-6117
Publisher:
ASMECopyright Statement
Country of Publication:
United States
Language:
English

References (14)

State of the art: hardware in the loop modeling and simulation with its applications in design, development and implementation of system and control software journal June 2014
Hardware-in-the-loop testbed for evaluating connected vehicle applications journal May 2017
Development of advanced driver assistance systems with vehicle hardware-in-the-loop simulations journal July 2006
Vehicle-in-the-Loop Framework for Testing Long-Term Autonomy in a Heterogeneous Marine Robot Swarm journal July 2020
A Relative Dynamics Formulation for Hardware- in-the-Loop Simulation of On-Orbit Robotic Missions journal April 2021
A survey of iterative learning control journal June 2006
Modeling, Control, and Experimental Validation of a Transient Hydrostatic Dynamometer journal November 2011
An Advanced HIL Simulation Battery Model for Battery Management System Testing journal November 2016
Dynamic Load Emulation in Hardware-in-the-Loop Simulation of Robot Manipulators journal July 2011
Joint Optimization for Transport and Bucket Loading Phases of Automated Wheel Loaders journal August 2023
A Novel Platform for Powertrain Modeling of Electric Cars With Experimental Validation Using Real-Time Hardware in the Loop (HIL): A Case Study of GM Second Generation Chevrolet Volt journal November 2018
Energy management strategy for a power-split hydraulic hybrid wheel loader
  • Wang, Feng; Mohd Zulkefli, Mohd Azrin; Sun, Zongxuan
  • Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, Vol. 230, Issue 8 https://doi.org/10.1177/0954407015600899
journal September 2015
Development of a dynamical model and energy analysis for wheel loader journal July 2023
Hardware-in-the-Loop Testing of Engine Control Units - A Technical Survey conference April 2007

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33 ADVANCED PROPULSION SYSTEMS
Automotive systems
Control equipment
Control modeling
Cycles
Design
Dynamometers
Engines
Fluid power control
Hardware
Hardware-in-the-loop
Hydrostatics
Iterative learning control
Off-road vehicles
Torque
Wheels